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[wpilib] Remove automatic PD type from module type enum (#3732)

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Using automatic type doesn't work with any module number, so the API was confusing.
This commit is contained in:
Thad House
2021-11-23 23:03:45 -08:00
committed by GitHub
parent da90c1cd2c
commit 4b1defc8d8
3 changed files with 24 additions and 11 deletions
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20
wpilibc/src/main/native/cpp/PowerDistribution.cpp
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@@ -15,9 +15,6 @@
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
static_assert(static_cast<HAL_PowerDistributionType>(
frc::PowerDistribution::ModuleType::kAutomatic) ==
HAL_PowerDistributionType::HAL_PowerDistributionType_kAutomatic);
static_assert(static_cast<HAL_PowerDistributionType>(
frc::PowerDistribution::ModuleType::kCTRE) ==
HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE);
@@ -29,8 +26,21 @@ static_assert(frc::PowerDistribution::kDefaultModule ==
using namespace frc;
PowerDistribution::PowerDistribution()
: PowerDistribution(-1, ModuleType::kAutomatic) {}
PowerDistribution::PowerDistribution() {
auto stack = wpi::GetStackTrace(1);
int32_t status = 0;
m_handle = HAL_InitializePowerDistribution(
kDefaultModule,
HAL_PowerDistributionType::HAL_PowerDistributionType_kAutomatic,
stack.c_str(), &status);
FRC_CheckErrorStatus(status, "Module {}", kDefaultModule);
m_module = HAL_GetPowerDistributionModuleNumber(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
HAL_Report(HALUsageReporting::kResourceType_PDP, m_module + 1);
wpi::SendableRegistry::AddLW(this, "PowerDistribution", m_module);
}
PowerDistribution::PowerDistribution(int module, ModuleType moduleType) {
auto stack = wpi::GetStackTrace(1);

4
wpilibc/src/main/native/include/frc/PowerDistribution.h
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@@ -18,12 +18,12 @@ class PowerDistribution : public wpi::Sendable,
public wpi::SendableHelper<PowerDistribution> {
public:
static constexpr int kDefaultModule = -1;
enum class ModuleType { kAutomatic = 0, kCTRE = 1, kRev = 2 };
enum class ModuleType { kCTRE = 1, kRev = 2 };
/**
* Constructs a PowerDistribution.
*
* Uses the default CAN ID.
* Uses the default CAN ID (0 for CTRE and 1 for REV).
*/
PowerDistribution();

11
wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistribution.java
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@@ -22,7 +22,6 @@ public class PowerDistribution implements Sendable, AutoCloseable {
public static final int kDefaultModule = PowerDistributionJNI.DEFAULT_MODULE;
public enum ModuleType {
kAutomatic(PowerDistributionJNI.AUTOMATIC_TYPE),
kCTRE(PowerDistributionJNI.CTRE_TYPE),
kRev(PowerDistributionJNI.REV_TYPE);
@@ -37,7 +36,7 @@ public class PowerDistribution implements Sendable, AutoCloseable {
* Constructs a PowerDistribution.
*
* @param module The CAN ID of the PDP.
* @param moduleType Module type (automatic, CTRE, or REV).
* @param moduleType Module type (CTRE or REV).
*/
public PowerDistribution(int module, ModuleType moduleType) {
m_handle = PowerDistributionJNI.initialize(module, moduleType.value);
@@ -50,10 +49,14 @@ public class PowerDistribution implements Sendable, AutoCloseable {
/**
* Constructs a PowerDistribution.
*
* <p>Uses the default CAN ID.
* <p>Uses the default CAN ID (0 for CTRE and 1 for REV).
*/
public PowerDistribution() {
this(kDefaultModule, ModuleType.kAutomatic);
m_handle = PowerDistributionJNI.initialize(kDefaultModule, PowerDistributionJNI.AUTOMATIC_TYPE);
m_module = PowerDistributionJNI.getModuleNumber(m_handle);
HAL.report(tResourceType.kResourceType_PDP, m_module + 1);
SendableRegistry.addLW(this, "PowerDistribution", m_module);
}
@Override